#DEFINES  += D_USE_ROS
QT += multimedia
QT += core xml network widgets
TARGET = ProgramEngine
TEMPLATE = lib

DEFINES += PROGRAMENGINE_LIBRARY

CONFIG += staticlib

INCLUDEPATH += /usr/local/include/kdl
INCLUDEPATH += $$PWD
DEPENDPATH += $$PWD

HEADERS += \
    $$PWD/programengine.h \
    $$PWD/programengine_global.h\
    $$PWD/taskmanager.h \
    $$PWD/rsrinfo.h \
    lasercameratrajserver.h \
    trajorientationcalculate.h


SOURCES += \
#    main.cpp \
    $$PWD/programengine.cpp \
    $$PWD/taskmanager.cpp \
    $$PWD/rsrinfo.cpp \
    lasercameratrajserver.cpp \
    trajorientationcalculate.cpp

OTHER_FILES += \
    $$PWD/robot0/programFile/PNSPNSPNS.txt \
    $$PWD/robot0/programFile/test.txt


INCLUDEPATH += ../../include/actions/INC
INCLUDEPATH += ../../include/actions/INC/Linux
INCLUDEPATH += ../../include/ethercat-igh
INCLUDEPATH += ../../include/
INCLUDEPATH += ../../include/MacroDefine
INCLUDEPATH += /usr/local/include/modbus/

INCLUDEPATH +=../WebServer/echoserver
INCLUDEPATH +=../CoordinateModule/
INCLUDEPATH +=../AxisObject/
INCLUDEPATH +=../LaserCameraAdapter/

INCLUDEPATH +=../EcatCore
LIBS += -L../../lib -lEcatCore
INCLUDEPATH +=../DomParser
LIBS += -L../../lib -lDomParser
INCLUDEPATH +=../Md5Check
LIBS += -L../../lib -lMd5Check
INCLUDEPATH +=../HmiGsoapQt
LIBS += -L../../lib -lHmiGsoapQt
INCLUDEPATH +=../VrepRemoteControlor
LIBS += -L../../lib -lVrepRemoteControlor
INCLUDEPATH +=../WebServer
LIBS += -L../../lib -lWebServer
#INCLUDEPATH +=../Coordinate
#LIBS += -L../../lib -lCoordinate
INCLUDEPATH +=../PointData
LIBS += -L../../lib -lPointData
INCLUDEPATH +=../ProgramSet
LIBS += -L../../lib -lProgramSet
INCLUDEPATH +=../LogicalInstruction
LIBS += -L../../lib -lLogicalInstruction
INCLUDEPATH +=../ExtensitionLogicInstruction
INCLUDEPATH +=../LogicalAgvInstruction
INCLUDEPATH +=../MessageLog
LIBS += -L../../lib -lMessageLog
INCLUDEPATH += ../TcpManager
LIBS += -l../../lib -lTcpManager
#INCLUDEPATH +=../InternalSafe
#LIBS += -L../../lib -lInternalSafe
#INCLUDEPATH +=../JointDecouple
#LIBS += -L../../lib -lJointDecouple
INCLUDEPATH +=../MotorInterface
#LIBS += -L../../lib -lMotorInterface
#INCLUDEPATH +=../PalletCalculate
#LIBS += -L../../lib -lPalletCalculate
#INCLUDEPATH +=../ControlLoop
#LIBS += -L../../lib -lControlLoop
INCLUDEPATH +=../RegData
LIBS += -L../../lib -lRegData
#INCLUDEPATH +=../TrajectoryScale
#LIBS += -L../../lib -lTrajectoryScale
INCLUDEPATH +=../MeasureTime
LIBS += -L../../lib -lMeasureTime
INCLUDEPATH +=../RobotManager
LIBS += -L../../lib -lRobotManager
INCLUDEPATH +=../RobotEngine
LIBS += -L../../lib -lRobotEngine

LIBS += -L../../lib -lMotionServer


INCLUDEPATH +=../MotionServer
INCLUDEPATH +=../MotionServer/Axis/

INCLUDEPATH += ../GlobalManager
LIBS += -L../../lib -lGlobalManager
INCLUDEPATH += ../RobotiqTool
LIBS += -L../../lib -lRobotiqTool
INCLUDEPATH += ../PowerManager
LIBS += -L../../lib -lPowerManager

INCLUDEPATH += ../ProgramLanguageTranslate
LIBS += -L../../lib -lProgramLanguageTranslate
INCLUDEPATH +=../FleetService

unix:!macx: LIBS +=  ../../lib/kdl/liborocos-kdl.so.1.3.0
INCLUDEPATH += /usr/local/include/kdl



#INCLUDEPATH += ../../include/alLib/Eigen
#INCLUDEPATH += ../../include/alLib/gsl
#INCLUDEPATH += ../../include/alLib

INCLUDEPATH += ../XmlParse
LIBS += -L../../lib -lXmlParse


＃DEFINES += BUILD_ARM
DEFINES += BUILD_X86_LINUX
#DEFINES += BUILD_X86_WINDOWS #为什么其它库pro也要定义这个才起作用。


contains( DEFINES, BUILD_X86_WINDOWS ){
message("project use BUILD_X86_WINDOWS !")
}
contains( DEFINES, BUILD_X86_LINUX ){
message("project use BUILD_X86_LINUX !")

}
contains( DEFINES, BUILD_ARM ){
message("project use BUILD_ARM !")
}



contains( DEFINES, BUILD_X86_WINDOWS ){
message("project use BUILD_X86_WINDOWS !")
DESTDIR =../../lib/x86_WINDOWS
#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory_windows
MOC_DIR +=../../build/tmpBuildDirectory_windows
OBJECTS_DIR += ../../build/tmpBuildDirectory_windows
RCC_DIR += ../../build/tmpBuildDirectory_windows
}

contains( DEFINES, BUILD_X86_LINUX ){
message("project use BUILD_X86_LINUX !")
DESTDIR =../../lib

#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory
MOC_DIR +=../../build/tmpBuildDirectory
OBJECTS_DIR += ../../build/tmpBuildDirectory
RCC_DIR += ../../build/tmpBuildDirectory
}

contains( DEFINES, BUILD_ARM ){
message("project use BUILD_ARM !")
DESTDIR =../../lib-arm

#编译中间文件目录
UI_DIR += ../../build/tmpBuildDirectory_arm
MOC_DIR +=../../build/tmpBuildDirectory_arm
OBJECTS_DIR += ../../build/tmpBuildDirectory_arm
RCC_DIR += ../../build/tmpBuildDirectory_arm
}
